WO2014154867A2 - Entraînement électrique compact et procédé de fonctionnement dudit entraînement électrique - Google Patents

Entraînement électrique compact et procédé de fonctionnement dudit entraînement électrique Download PDF

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Publication number
WO2014154867A2
WO2014154867A2 PCT/EP2014/056287 EP2014056287W WO2014154867A2 WO 2014154867 A2 WO2014154867 A2 WO 2014154867A2 EP 2014056287 W EP2014056287 W EP 2014056287W WO 2014154867 A2 WO2014154867 A2 WO 2014154867A2
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WO
WIPO (PCT)
Prior art keywords
mover
rotor
toothing
stator
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2014/056287
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German (de)
English (en)
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WO2014154867A3 (fr
Inventor
Andreas Kappel
Bernhard Gottlieb
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Johnson Controls GmbH
Original Assignee
Johnson Controls GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Johnson Controls GmbH filed Critical Johnson Controls GmbH
Publication of WO2014154867A2 publication Critical patent/WO2014154867A2/fr
Publication of WO2014154867A3 publication Critical patent/WO2014154867A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
    • H02K41/065—Nutating motors

Definitions

  • the invention relates to a device and in particular to a method for the electromechanical generation of rotation.
  • the object of the invention is to provide a simple and very compact device for the electromechanical generation of controllable rotation.
  • the direction of rotation, rotational speed, torque and / or power should be electrically controlled and / or regulated, with such a drive should have a minimum volume.
  • Patent claim 1 solved.
  • the inventive device for the electromechanical generation of rotation comprises a stator, a rotor, a number of actuators and a housing receiving them, wherein the stator and the rotor are arranged axially one inside the other and coupled in the operation of at least one actuator by means of a mover at least one position are, wherein the mover is rotatable about a fixed axis and / or tiltable.
  • the mover is tiltable about a predetermined tilt angle about the stationary axis and thus limits its tilting movement.
  • the tilt angle is in particular in an angular range of 5 ° to 20 °, in particular from 10 ° to 15 ° or 5 ° to 10 °, in particular 0.5 ° to 5 °.
  • the mover is so both to the stator and the rotor arranged and set up such that it rolls during operation of the actuator meshing or rolling both on the stator and on the rotor.
  • the mover can also roll only on the stator or only the rotor, if the other tooth pairing is replaced by a coupling structure.
  • This can be frontally, in particular at least one
  • Front side or side by side or in mesh or rolling done.
  • the mover can be compared to a support structure, in particular a housing or a rotor, by means of bending soft and torsionally rigid
  • Storage means also rotatably and tiltably mounted or connected.
  • the storage means in this case replaces one of the toothing or rolling pairings, for example that between the mover and the housing, when the storage means is arranged between these elements or that between the mover and the rotor, if the storage means is located between these elements.
  • Such a device is designed to be particularly compact and allows high torques and efficiencies and low-noise operation and high performance.
  • the mover and the housing are supported by means of associated and opposing bearing surfaces on a common storage means.
  • the storage means is spherical, whereby both a rotational and a tilting movement is possible.
  • the mover may be formed as a circular disc with a central recess, wherein the recess to the outer shape of the storage means
  • a further embodiment provides that a compression spring element is arranged between the rotor and the mover.
  • the device comprises at least one locking device, by means of which the rotor is secured against axial displacement.
  • stator and the rotor form a
  • Carrier structure wherein in the operation of the actuator on the mover so circulating around the stationary axis forces are exercisable that the mover and the support structure roll on each other or rolling or rolling, so that the rotor is set in rotation.
  • these can roll on the front side or laterally on annular circumferential ribs or webs or meshing or rolling.
  • the mover has, for example, on the surface lying in the direction of the rotor and of the stator, for example on the end face or on concentric ribs or webs projecting from side surfaces, a first mover toothing and a second muntin toothing.
  • the first moving toothing and the second moving toothing are arranged concentrically around a center of the mover, for example.
  • the two Bewegerzahnept are circular or annular and radially spaced from each other and form a radially inner toothing and a radially outer toothing.
  • the two - the stator and the rotor - a carrier structure-forming components of the device in this case have in the direction of the Bewegers a first carrier toothing and a second carrier toothing, which are arranged concentrically about the axis fixed to space.
  • a first carrier toothing and a second carrier toothing which are arranged concentrically about the axis fixed to space.
  • Meshing rolling or roll rolling carrier teeth so that the rotor is set in rotation.
  • the support structure may be rotatable about the stationary axis.
  • the mover is at least partially or completely formed from a ferromagnetic material and / or a permanent magnet, so that electromagnetic forces can be exerted on these areas and the mover can be set in motion.
  • a plurality of electromagnetic coils are arranged annularly, for example around the stationary axis.
  • the object is also achieved by a drive system having a first stationary axis and a mover having a second axis which is rotatable and / or tiltable about the stationary axis.
  • the drive system has at least one shaft
  • motor shaft on, around the solid axis in one
  • Support structure in particular a housing, is rotatably mounted.
  • the spatially fixed axis forms, for example, the axis of rotation about which the second axis is movable at an angle to the solid axis.
  • the mover and / or the support structure have actuators, preferably electromechanical actuators, electromagnetic actuators and / or solid-state actuators, by which the mover is movable.
  • actuators preferably electromechanical actuators, electromagnetic actuators and / or solid-state actuators, by which the mover is movable.
  • shaft and / or support structure and / or mover elements of transmission technology such as gears, rolling wheels, Cams, swash plates, tilting disks, eccentrics, etc., are connected to such and / or consist entirely and / or partially of those by means of which the spatial degrees of freedom of the mover are limited such that the second axis preferably by forces of the actuators to the space Axis is movable and through the
  • a mover has at least one first toothing Z1 running around the second axis (also called mover toothing Z1).
  • a mover has a second toothing Z2 running around the second axis (also called mover toothing Z2).
  • the carrier structure has at least one shaft rotatably mounted about the stationary axis with a toothing M1 (also called carrier toothing M1).
  • the support structure may have a second shaft rotatably mounted about the stationary axis with a toothing M2 (also called support toothing M2).
  • the toothings Z1 and M1 can be rolled into one another or onto each other.
  • the serrations Z2 and G1 can be rolled into one another or onto one another or the serrations Z2 and M2 can be rolled into one another or onto one another.
  • the toothing Z1 thus corresponds to the toothing M1 and the toothing Z2 corresponds to the toothing G1 or the toothing Z1 corresponds to the toothing M1 and the toothing Z2 corresponds to the toothing M2.
  • forces can be exerted on the mover about the stationary axis by means of actuators which lead to a rolling of the toothing Z1 in / on the corresponding toothing M1 and to a rolling of the toothing Z2 in / on the tooth G1, as a result of which the shaft is in rotation is offset, or the teeth Z1 rolls in / on the corresponding toothing M1 of a first shaft and the toothing Z2 rolls in / on the corresponding toothing M2 of a second shaft, whereby the first shaft is rotated relative to the second shaft in rotation.
  • the support structure itself can also be rotatable about the spatially fixed axis, so that the rotation of the support structure is superimposed.
  • the pole shoes have a toothing G1, in which one of the toothings of the mover, in particular the teeth Z2, can roll off.
  • the pole shoes may have a shape suitable for this purpose, which enables a continuous positive rolling, in particular the toothing Z2 in the toothing G1 of the pole shoes.
  • the teeth formed by the pole shoes can be a perforated toothing, with tooth spaces, or a closed toothing.
  • the toothed pole pieces may have a width such that the gap between adjacent pole shoes becomes sufficiently small that a continuous meshing rolling of a toothing corresponding to the pole tooth teeth is ensured, however sufficiently large to form a magnetic shunt of one
  • the gaps between the toothed pole shoes can be filled with a preferably non-ferromagnetic material, which is referred to as filling material and which may be toothed as well as the pole shoes, so that the teeth of the pole shoes with the teeth of the filling material forms a closed circumferential toothing.
  • the toothed area of the pole shoes can also be coated with the filling material, which then forms a closed circumferential toothing.
  • the filler may be a tribologically preferred material.
  • the mover In order to exert electromagnetic forces on the mover, the mover has, in particular, ferromagnetic material and / or consists of subareas or entirely of ferromagnetic material and / or permanent magnets and / or has ferromagnetic active elements.
  • the drive In order to apply electromagnetic forces to the mover, the drive preferably has electromagnets arranged concentrically with respect to the spatially fixed axis, which can interact with the mover.
  • the electromagnets have pole pieces of ferromagnetic material and the pole shoes associated windings of electrically conductive wire with winding terminals, which can be connected to an electrical drive unit.
  • the mover is by means of
  • Storage means rotatably mounted and tiltable about the stationary axis.
  • the mover may, for example, relative to the housing or the rotor by means of flexible and torsionally rigid mounting means rotatably mounted but tilted or connected.
  • the storage means replaced in this case one of the Zahnungsparungen, for example, between the mover and housing, when the storage means between these elements is arranged or that between mover and rotor, if the storage means is arranged between these elements.
  • the mover By circulating current supply of the electromagnets and the force exerted by these on the movers circulating electromagnetic forces, the mover is excited to a circumferential tilting movement about the stationary axis, wherein the second axis substantially on a
  • the direction of rotation of the at least one shaft is (are) through the
  • the torque is controllable by the current strength of the electromagnets and the power output by drive frequency and current.
  • Such a drive is basically characterized by a low-vibration run.
  • a very low-vibration run can be achieved in particular by tilting and pivoting of the mover in its center of gravity and / or a pivot point of the mover, which is located on the axis fixed to space.
  • the teeth Z1, Z2, M1, G1 (or M2) and the translations of the tooth pairings can be formed so that there are small, medium or very high gear ratios.
  • the tooth pairings can be designed so that the mechanical transmission behavior of the two gear stages Z1 with M1 and Z2 with G1 (or M2) is differential, which is very high torques allows or so that one of the tooth pairings does not act speed-translating or so that one of the tooth pairings is replaced by a flexible and torsionally rigid mounting or connecting means.
  • the toothings of the mover in an initial position and / or a de-energized state may be at least partially engaged, resulting in a high self-locking or the gears are designed so that these, for example in a neutral position, in which the mover parallel to a solder plane the motor shaft is disengaged, whereby a freewheel is enabled.
  • the attitude of the desired behavior can over the
  • Gearing geometry and / or the geometric boundary conditions of the mover such as diameter, radii, position of the
  • FIG. 1 shows a planar sectional view of an electric compact drive
  • FIG. 2 shows a perspective sectional view of the compact electric drive from FIG.
  • FIG. 3 is a planar sectional view of the electric compact drive of Figure 1 in engaged position
  • FIG. 6 shows a compact electric drive from Figure 5 in a planar sectional view
  • 7 is a sectional view of the electric compact drive of Figure 5 in a first perspective
  • FIG. 8 is a sectional view of the electric compact drive of Figure 5 in a second perspective
  • FIG. 10b shows a carrier structure with rotor and actuators as well as the toothing and coupling structures corresponding to FIG. 10a
  • FIG. 1 shows a compact drive with bellows-type coupling structure and one
  • Fig.13 a compact drive with motor shaft side
  • Fig.15b is a perspective sectional view of the compact drive
  • 16a shows a compact drive with radially arranged bolts for
  • 17a a compact drive with integrated motor control electronics and tooth structures, which are arranged opposite the magnetic functional surfaces, and
  • Fig.17b is a perspective sectional view of the compact drive
  • Fig.1 to Fig.17 show an electrical according to the invention
  • Kompaktantheb as a device V for the electromechanical generation of rotation in various representations and perspectives, comprising a stator 1, pole pieces 2 with a tooth G1, windings 3, a housing 4, bearing elements 5, 6, a motor shaft 7 as a rotor R with a toothing M1 and a mover 8 with teeth Z1, Z2.
  • the rotor R and the stator 1 form a support structure T for the
  • the motor shaft 7 is rotatably supported by a space-fixed axis A-A 'in a support structure formed by the housing 4 and the stator 1 by means of bearing means 5.
  • Windings 3 are formed such that in each case a pole piece 2 and a winding 3 form an actuator A, wherein a plurality of actuators A are arranged in a ring around the axis A fixed space A-A '.
  • the mover 8 is tiltably and / or rotatably supported by means of support 6 about a fixed axis A-A '.
  • the housing 4 has a bearing surface 9 and the mover 8 has a bearing surface 10 on which the bearing means 6, for example a ball, is supported.
  • a compression spring element 1 1 which is arranged in a recess 12 of the motor shaft 7, mover 8 and storage means 6 relative to the housing 4 and the motor shaft 7 can be kept free of play on investment.
  • the shaft 7 is secured in a manner not shown by means of a locking device.
  • a locking device for this purpose, further bearings and / or securing elements may be present.
  • the compact or hybrid drive also has a stator 1 with
  • Pole shoes 2 made of ferromagnetic material and windings 3 of the pole pieces 2, via not shown electrical connections can be energized.
  • the pole pieces 2 are preferably arranged concentrically to the space-fixed axis AA 'and in a plane perpendicular to the axis AA' and oriented with their active surfaces such that they on the mover 8 or at least portions of the mover. 8
  • the mover 8 ferromagnetic material and / or consists partially or entirely of ferromagnetic material and / or has active elements made of ferromagnetic material.
  • the toothing Z2 also called the second mover toothing Z2 corresponding to the toothing G1 of the pole shoes can be wholly or partly made of ferromagnetic material.
  • Under ferromagnetic materials are all hard or soft magnetic materials and their
  • the mover 8 has a structure which is preferably symmetrical about a second axis B-B ', see FIG.
  • the about the second axis BB 'substantially concentric teeth Z2 extends on the surface of the mover 8 over a region which engages with the teeth G1 of the pole pieces 2 (also short Pole 2 called) of the stator 1 allows.
  • the pole shoes 2 for this purpose have a toothing G1 corresponding to the toothing Z2.
  • the teeth Z1, Z2, G1, M1, M2 so
  • corresponding toothing M1 of the motor shaft may have a low clearance.
  • the mover 8 is tiltable and / or rotatable with respect to its axis B-B 'about the spatially fixed axis A-A'.
  • the maximum tilt angle can be predetermined by the teeth Z1, Z2, G1, M1, M2, in particular the tooth depths, the tooth geometry and / or the radii on which the toothings Z1, Z2, G1, M1, M2 are located.
  • the serrations Z1, Z2, G1, M1, M2 and the radii can be selected such that even in the de-energized state and / or with untilted mover 8 the toothings Z1, Z2, G1, M1, M2 engage at least partially or in some areas which are high
  • the serrations Z1, Z2, G1, M1, M2 are to be dimensioned so that the toothings Z1, Z2, G1, M1, M2 on one side of the mover 8 are fully engaged only when the mover 8 is completely tilted by electromagnetic actuation advised and on the diametrically opposite side of the mover 8 disengaged, so that the rolling of the serrations Z1, Z2, G1, M1, M2 is not hindered in operation.
  • the mover 8 is tilted by energizing at least one pole 2 and the electromagnetic force exerted by the latter on the mover 8, so that the teeth Z1 with M1 and the teeth Z2 with G1, if they are not already in engagement, engage.
  • Swash plate corresponding toothing G1 be disposed inside or outside the pole pieces 2. This is a functional
  • the housing part 1 represents a stator or parts of a stator, which forms the actuators A by means of electrically actuated coils 3 and pole shoes 2, which are arranged in a ring around the spatially fixed axis A-A '.
  • the stator 1 is rotatably connected to the housing pot 4.
  • the toothing M1 of the motor shaft 7 corresponds to the teeth Z1 of the mover 8.
  • the mover 8 with the spherical shape 6 by bilateral support to the
  • the compact drive according to the invention can be designed both as a drive with single-stage translation, as well as a drive with two-stage translation.
  • the drive according to the invention operates in two stages, in particular, when the toothing G1 has a tooth number deviating from the toothing Z2 and the toothing M1 has a tooth number deviating from the toothing Z1.
  • the drive according to the invention operates in one stage in particular when the toothing G1 has the same number of teeth as the toothing Z2 or the toothing M1 has the same number of teeth as the toothing Z1.
  • Torques are transferable, for example, couplings, bellows, cardan elements, torsionally rigid and flexible structures, Zahnungsparept with the same number of teeth or similar complementary structures, which are referred to collectively as coupling structures.
  • the coupling structure is formed by intermeshing profiles Z1, M1, which rotatably couples the motor shaft 7 and the mover 8 with respect to rotations about the axis AA '
  • the coupling structure may be formed by substantially complementary profiles, for example by (tooth) profile-like elevations and depressions.
  • Mover 8 can be compared to the housing 4 or the support structure connected thereto, be excited by the actuators A about the solid axis A-A 'to a wobble motion. Indicates the toothing Z2 of the
  • the mover is the eighth relative to the housing 4 or the support structure connected thereto in rotation, which by the coupling structures Z1, M1 on the
  • the coupling structures can be formed in various ways, for example, as shown in Fig.10a and Fig.10b, by elevations and depressions of the surface profile.
  • the coupling structure is formed by a bellows 13, which is connected torsionally rigid with its one end to the mover 8 and with its other end to the motor shaft 7.
  • a torsionally stiff connection can be made for example by welding, clamping, gluing or other connection techniques.
  • the toothing Z2 of the mover 8 can also, as shown in Figure 1 1, on the motor shaft 7 side facing away from the
  • Bewegers 8 be arranged and in a corresponding
  • the function of the spring 11 may also be taken over by the bellows 13, or by another coupling structure having an axial spring rate, and the spring 11 may be dispensed with.
  • FIG. 12 shows a further development of that shown in FIG.
  • the motor shaft 7 has a central elevation 17 with a bearing surface 10, which in the
  • the toothing Z2 of the mover 8 is located on the side of the mover 8 facing the pole shoes 2 of the actuators 8 and corresponds to the toothing G1 of the carrier structure. Furthermore, the drive on the motor shaft 7 opposite pressure means 1 1, which holds the mover 8, the bearing ball 6 and the motor shaft 7 backlash to plant.
  • the coupling structure is formed by a bellows 13, which connects the motor shaft 7 and the mover 8 torsionally rigid and bendable soft.
  • the coupling structure 13 in particular a bellows, a membrane or another axial spring rate having structure, take over the function of Andruckmitteis.
  • FIG. 14 To transmit the rotation of the mover 8 to the motor shaft 7, the embodiment shown in FIG. 14 has a coupling structure
  • Motor shaft 7 with concentric about the axis A-A 'and to this axially arranged bolt 14, which engage in recesses 15 of the mover 8.
  • Inner diameter and shape of the recesses 15 and the bolt 14 are designed such that a mechanical clearance between the mover 8 and the motor shaft 7 and the friction of the bolt 14 in the recesses 15 is minimal.
  • the surfaces of the bolts 14 and the recesses 15 may have tribological coatings to reduce the mechanical friction.
  • Fig. 15a shows an alternative construction, in which the torque acting on the mover 8 via a coupling structure 13, in particular a bellows 13, on the support structure respectively the housing 4 and with the Housing 4 connected stator 1 is supported.
  • Fig. 15b shows a perspective sectional view of the embodiment of Fig. 15a.
  • Motor shaft 7 is set at a given number of teeth difference Z1 to M1 in rotation.
  • Embodiment advantageous to a permanent magnetic
  • a permanent-magnet drive of the type shown in FIG. 15a, 15b for example, has permanent magnets on the surface of the mover 8 or embedded in it, or the mover 8 itself forms a permanent magnet or is
  • the coupling structure is formed by radially protruding bolts 14 of the motor shaft 7, R, which engage in slot-shaped recesses 15 in the inner region of the mover 8.
  • the recesses 15 are dimensioned and oriented so that the tumbling motion of the mover 8 is impeded as little as possible, However, a torque through the bolt 14 is transferable to the motor shaft 7.
  • FIG. 16b shows a perspective sectional view.
  • the mover 8 by a dome-shaped central region / storage area 6 on the one hand with respect to the motor shaft 7 and on the other hand with respect to the support structure, comprising the housing parts 4, 4 'and a stator 1, about the axis A-A' rotatable and tiltable, but axially fixed.
  • the stator 1 has in its inner region a bearing element 5, for example a plain bearing bush, which rotatably supports the motor shaft 7 about the axis A-A '.
  • the motor shaft 7 has an end bearing surface 16, which corresponds to an abutment 17 of the housing part 4 and prevents axial emigration of the motor shaft 7 in the direction of the housing part 4.
  • Bewegers 8 is supported axially with a first bearing surface on a front-side abutment 9 of the bearing element 5 and with a second bearing surface on the abutment 10 of the motor shaft 7, whereby the motor shaft 7 and 8 mover are axially fixed.
  • the bearing surfaces 9, 10 and the central region 6 of the mover are in this case designed such that the mover 8 can be tilted and / or rotated in an angular range about the axis A-A '.
  • the bolts 14 can be rotatable or roller-mounted and / or the recesses 15 and / or the bolts 14 have a friction-reducing coating.
  • a stator 1 with primarily radial magnetic flux guide can be generated in the stator 1 by circulating around the axis AA 'electrical energization of the windings 3 of the actuators A about the axis AA' rotating magnetic fields interact via the poles 2 with the preferred ferromagnetic mover 8 and on this around the axis AA 'rotating
  • the ferromagnetic mover 8 has a thickness which corresponds to at least 0.4 times the pole spacing of the electromagnets A.
  • Fig.17a has one in the
  • Carrier structure of the compact drive integrated motor control electronics 18 consisting of at least one circuit board 18 with
  • the windings 3 of the electromagnetic actuators A are preferably connected directly to the engine control electronics 18, 19. For monitoring, control, regulation of
  • Compact drive can have this connected to the engine control electronics 18 sensors, for example, for detecting speed, temperature, current, rotor position, force / torque and / or such sensors are integrated into the circuit board 18.
  • shown elements can be connected to both a power supply and with a control and / or operating unit, wherein the power supply can be done both via electrical connection lines and inductively.
  • Fig. 17b shows a sectional view in a perspective view.
  • the stator 1 has around the axis A-A 'radially arranged electromagnets
  • the toothing structure Z2 of the mover 8 is located on the side facing away from the pole shoes 2 of the mover 8, whereby the
  • Pole shoes 2 facing surface of the mover 8 in an optimal manner for electromagnetic interaction with the pole pieces 2 is available.
  • the drive can thereby have a small outer diameter with the same power.
  • Motor shaft 7 and mover 8 are axially fixed by bearing surfaces of the housing part 4 'and the bearing sleeve 5, but about the axis A-A' rotatable.
  • the motor shaft 7 has a collar 16, which is supported on the end face 17 of the bearing sleeve 5.
  • the anvil is through the bearing surface 10 of the motor shaft 7 in cooperation with the
  • dome-shaped configured central region 6 of the mover 8 and the corresponding bearing surface 9 in the housing part 4 ' is formed.
  • the mover 8 By supporting the mover 8 relative to the housing part 4 'and against the motor shaft 7, the mover 8 can additionally be tilted about the axis A-A'.
  • the housing part 4 and the housing part 4 ' are connected together in one unit.
  • the stator 1 is fixedly connected to the unit formed from the housing parts 4, 4 '.
  • the mover 8 When energizing the actuators A revolving around the axis A-A ', the mover 8 performs a wobble-like movement, in which the
  • Motor shaft 7, R is transmitted.
  • the tappable on the motor shaft 7 torque is due to the current amplitude and the pulse width of the
  • the Bestromungspulse the actuators A controllable, the Bestromungspulse can overlap, so that, for example, actuators i, i + 1, ... are already energized before the actuator i is discharged.
  • the rotational speed of the motor shaft 7 is by the electric
  • the electrical impedances of the actuators A which are likewise variable due to the variable air gaps between the mover 8 and the pole shoes 2, can be sensorless
  • Detection of physical parameters for example, a position of the mover 8, a torque of the motor shaft 7 or a speed can be used.
  • a sensorless takes place
  • the pulse shape may have a suitable shape, for example a sine, rectangular, triangular or
  • the behavior of the hybrid drive in strong can over edge steepnesses, rise and fall times of the drive pulses and asymmetric pulse shapes Measurements are influenced.
  • electrical variables of the hybrid drive such as, for example, electricity,
  • Voltage, charge sensory data in particular a load torque and / or a rotational angle position determined and used for controlling and / or regulating the hybrid drive.
  • the individual windings can be energized according to a sense of rotation about the axis A-A 'circumferentially.
  • the energization of the windings 3 can be sequential successive, so that when a winding 3 is turned off, an adjacent winding 3 is turned on, etc.
  • the energization of adjacent windings 3 is carried out sequentially overlapping, so that before a winding 3 is turned off, at least one adjacent winding 3 is already energized, etc.
  • the drive pulse patterns of adjacent windings 3 may overlap.
  • the windings 3 of the stator 1 are energized circumferentially.
  • the at least one energized pole 2 or the entirety of the energized poles 2 exerts on the mover 8 electromagnetic forces, which the Teeth Z2 in engagement with the teeth G1 of the pole pieces 2 and / or the teeth Z1 brings or holds in engagement with the teeth M1.
  • Beweger 8 the endeavor each take the position of minimum stray field energy and to follow the circulating Bestromungsmuster.
  • the filler material is not or only slightly ferromagnetic and particularly preferred, the filler material, on its radius or circumference, the same toothing G1 as the
  • Pole shoes 2 so that the mover 8 on a closed toothing, formed by the toothed pole pieces 2 and filled with filler also toothed gaps between the pole pieces 2 can roll.
  • a filler can also cover the toothing G1 of the pole shoes 2 and image the tooth contour of the pole shoes 2 in the regions of the pole shoes 2.
  • the filler can also fill in the gaps between the pole shoes 2 and cover them in a thickness, continuing their teeth G1.
  • the filler may have on its surface a friction-resistant and / or tribological layer or coating.
  • the filler can fix the windings 3 and / or um- cover and improve the heat dissipation of the windings.
  • the filler may be an injection moldable material, compound or casting resin.
  • the filler can fill the grooves of the stator 1 in whole or in part.
  • the pole shoes 2 can be widened and have a broadened Polschuhyakung G1.
  • a spacing of the toothing regions of the pole shoes 2 is thereby minimized, which facilitates continuous meshing rolling of the agitator 8 and, on the other hand, sufficiently large to keep a magnetic shunt between adjacent pole shoes 2 small.
  • the remaining grooves may be filled with filler, which continues the Polschuh croquung G1, wherein the filler can be flush with the Polschuh croquung G1 or cover this with a thickness.
  • drive systems of the type according to the invention may consist wholly or partly of ferromagnetic-particle-filled plastics (SMC-Soft Magnetic Compound) and / or be produced by means of injection molding and / or consist at least partially of stamped metal parts.
  • SMC-Soft Magnetic Compound ferromagnetic-particle-filled plastics
  • a drive system according to the invention for driving the at least one mover 8 has a number of at least two actuators A, preferably a number of at least three actuators A.
  • actuators A preferably a number of at least three actuators A.
  • Synchronmotormotoran Kunststoffmaschine, stepper motor controls, etc. are operated or advantageously by means of the invention described below driving method.
  • the drive systems according to the invention are with or without
  • Permanent magnets can be displayed. In particular, show
  • stator 1 with poles 2, pole windings 3 and a wholly or partially ferromagnetic mover 8 can be energized in different ways and thereby the characteristics of
  • Control of the winding currents are influenced.
  • An alternating over the circumference magnetic field pattern is particularly suitable to exert high forces on a ferromagnetic mover 8, since the Magnetic field lines have the tendency to close over the ferromagnetic mover from one pole 2 to another pole 2.
  • the orientation of the magnetic field of a pole 2 in a stator 1 with an even number of poles 2 does not change during operation and the current direction through the winding 3 of a pole 2 remains the same. If the individual windings 3 of the poles 2 have, by way of example, the same sense of winding, an alternating sequence of the orientation of the magnetic field lines of adjacent poles 2 can be achieved, in particular by
  • an electrical control of the windings takes place by means of unipolar output stages, wherein opposite to the generation
  • the number of electrical leads can be reduced by combining terminals of the windings 3 and setting them to a potential.
  • this can be the number of electrical leads of a 10-pin
  • Stators 1 of 20 supply lines to 1 1 supply lines are reduced.
  • bipolar output stages and / or commutator means are preferably suitable for commutating the current direction.
  • the commutator means are preferably suitable for commutating the current direction.
  • a current commutation of Windings in stators 1 with an even or an odd number of poles 2 by means of mechanical, electromechanical and / or electronic Kommutatorstoff done and / or the windings 3 can be multiplexed connected to a number of power amplifiers.
  • a stator 1 of a drive system according to the invention may have concentrated windings 3 or distributed windings 3.
  • the windings 3 are current-controlled or
  • the energization profiles may, for example, sinusoidal, trapezoidal, exponential forms or other suitable course, for example, with a current drop at saturation or an asymmetrical profile with different rising and falling edges and / or a time-variable amplitude.
  • a lighting profile for a pole 2 of a drive system with a stator having an even number of poles 2 and a ferromagnetic mover 8 has a 360 degree periodicity.
  • the energization profiles of the poles 2 are identical except for a phase offset, wherein the energization profiles of adjacent poles 2 depending on the winding scheme and / or electrical
  • 3 windings wiring scheme may have the same or opposite sign.
  • the energization profiles of adjacent poles 2 have the same phase offset.
  • the sign of the phase offset e.g. the direction of rotation of the motor shaft 7 are commutated.
  • the width ⁇ of the current supply profiles can be changed, in particular controlled and / or regulated.
  • the width ⁇ of the current flow profile is also referred to as the pulse width.
  • the pulse width can be changed from zero to a maximum value.
  • the pulse widths are continuously or discretely variable.
  • the pulse width determines the overlap of the current supply profiles of the poles 2 and the number and / or duration of the simultaneously energized poles 2.
  • the change of the pulse width as a function of load parameters, by means of external sensors, by means of internal sensors and / or by means of load detection by the drive itself, for example via impedance changes of single or multiple windings, are determined.
  • the drive can be operated at low load requirements and / or idle with a small pulse width ⁇ and increases the pulse width ⁇ correspondingly increased load demand and / or the signal amplitude can be changed, which for example a
  • Rotational uniformity allows.
  • additional additional parameters for influencing the characteristics of the drive system in particular power, torque, rotational uniformity and noise are available.
  • windings of a stator 1 can be electrically interconnected. For example, by electrical
  • a 5-pole stator Interconnection of two windings 3 of a 10-pole stator, a 5-pole stator are generated.
  • a Bestromungsprofil for a pole 2 of a drive system with an odd number of poles 2, taking into account Current commutation a 720 degree periodicity.
  • the orientation of the magnetic field changes every 360 degrees,
  • the pole shoes 2 may be one with each, for example
  • Circulation have alternating magnetic field orientation.
  • a pulse width ⁇ can be changed continuously and / or discretely during operation.
  • the shape of the pulse pattern may be suitably selected to allow, for example, high rotational uniformity or low noise operation.
  • Pulse patterns can be, for example, rectangular pulses, trapezoidal pulses or pulses with a sinusoidal waveform, the pulses having symmetrical pulse shapes or asymmetrical pulse shapes, for example different rising and falling edges and a time-modulated amplitude curve.
  • a stator 1 in addition to active poles 2, may also have passive poles 2 which serve to guide the flow.
  • an inventive drive system can be operated with a 3-pole stator 1 according to the operating method according to the invention with conventional phase control.
  • a motor may have, in addition to active energizable stator poles, a number of passive flux shoes for magnetic flux guidance.
  • a drive system according to the invention for driving the at least one mover 8 has a number of at least two actuators A, preferably a number of at least three actuators A.
  • solid-state actuators, electrostatic actuators and / or dielectric actuators are also suitable.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne un dispositif (V) de génération électromécanique de rotation, comprenant au moins : - un stator (1) ; - un rotor (R) ; - un actionneur (A) ; et - un boîtier (4) logeant ces éléments. Le stator (1) et le rotor (R) sont disposés axialement l'un dans l'autre et sont couplés entre eux lors du fonctionnement de l'actionneur (A) au moyen d'un dispositif de déplacement (8) en au moins une position, le dispositif de déplacement (8) pouvant tourner et/ou basculer autour d'un axe fixe (A-A').
PCT/EP2014/056287 2013-03-28 2014-03-28 Entraînement électrique compact et procédé de fonctionnement dudit entraînement électrique Ceased WO2014154867A2 (fr)

Applications Claiming Priority (2)

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DE102013005469 2013-03-28
DE102013005469.9 2013-03-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114389427A (zh) * 2021-12-13 2022-04-22 浙江大学杭州国际科创中心 基于电磁致动器的高精度、可变速、大负载精密定位平台

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU588599A1 (ru) * 1975-11-04 1978-01-15 Предприятие П/Я В-8589 Шаговый электродвигатель с колеблющимс дисковым ротором
US4906881A (en) * 1989-02-28 1990-03-06 Eaton Corporation Nutating motor with automatic engagement and disengagement of hand wheel with output shaft
DE19754921A1 (de) * 1997-12-10 1999-06-17 Hirn Helmut Dipl Ing Elektromotor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114389427A (zh) * 2021-12-13 2022-04-22 浙江大学杭州国际科创中心 基于电磁致动器的高精度、可变速、大负载精密定位平台
CN114389427B (zh) * 2021-12-13 2023-03-17 浙江大学杭州国际科创中心 基于电磁致动器的高精度、可变速、大负载精密定位平台

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